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Add _onlyIf and _onStart preconditions (#820, #895) - #1261
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- `_onlyIf="<script>"`: if false when the node is IDLE, return SKIPPED (the opposite of `_skipIf`, more readable in most cases). - `_onStart="<script>"`: execute a script right before the first tick() of the node, i.e. only if no other precondition returned a status. Useful to initialize or reset blackboard entries. Both are evaluated only when the node is IDLE/SKIPPED, like `_skipIf`. ONLY_IF and ON_START are appended at the end of PreCond, so the values of the existing ones don't change. Appending ONLY_IF after WHILE_TRUE keeps the semantics: SKIP_IF, WHILE_TRUE and ONLY_IF all return SKIPPED. Behavior change: the attribute names `_onlyIf` and `_onStart` are now reserved. Before, they were stored silently as non-port attributes and did nothing. Supersedes #821 and #932. Co-Authored-By: Darko Lukic <2135826+lukicdarkoo@users.noreply.github.com> Co-Authored-By: Aglargil <34728006+Aglargil@users.noreply.github.com> Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This was referenced Oct 25, 2026
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Closes #820 and #895. Supersedes #821 (@lukicdarkoo) and #932 (@Aglargil), who are credited as co-authors.
_onlyIf="<script>": if false when the node is IDLE, return SKIPPED (the opposite of_skipIf)._onStart="<script>": run a script right before the firsttick()of the node, only if no other precondition returned a status first.Both are evaluated only when the node is IDLE/SKIPPED, like
_skipIf. Evaluation order:_failureIf,_successIf,_skipIf,_while,_onlyIf,_onStart.Compatibility
ONLY_IFandON_STARTare appended at the end ofPreCond(Add onlyIf precondition #821 insertedONLY_IFin the middle, which changed the existing values).PreCond::COUNT_andTreeNode::PreScriptsget longer, but binaries built against the old headers only read the first four entries, which have not changed.ONLY_IFafterWHILE_TRUEkeeps the semantics:_skipIf,_whileand_onlyIfall return SKIPPED, so their relative order doesn't matter._onlyIfand_onStartare now reserved attribute names. Before, they were stored silently as non-port attributes and did nothing._skipIfstopped working unless_onlyIfwas also present.Also updated
XSD precondition group,
docs/pre_postconditions.md,docs/name_validation_rules.md.Tests
5 new tests in
gtest_preconditions.cpp. They cover the order (_onStartruns after the checks and not when another precondition short-circuits), running once per execution (again after a halt), and_onlyIfvs_skipIfand_while. All 5 fail on master; 600/600 pass with this PR.🤖 Generated with Claude Code